Hugging Face SO-100 (SO-ARM100) price & specs

Q: Can SO-100 be programmed?

Open source (hardware + software). Hugging Face lerobot (Python), code and parameters are compatible with SO-101.

TheRobotStudio × Hugging Face (open source) SO-100 (SO-ARM100) (1)

~$232 DIY parts (pair)

Discontinued · used/leftover onlyPython from a laptopLeRobotSuperseded by SO-1013D printed

Possibly ≤ 1 weekShipping: Build or leftover kits.

Remote control: Same as the SO-101: USB to a laptop and driven by the lerobot Python library.

LEARN MORE (GitHub) ↗

Overview

The arm that made LeRobot take off in late 2024, a low-cost, 3D-printed 6-DOF leader/follower pair designed by TheRobotStudio with Hugging Face. Its documentation is now marked deprecated in favor of the SO-101, which fixes wiring and assembly pain points. Existing SO-100 arms keep working with the same software.

Type: Robot arm · Desktop & hobby arms
Maker: TheRobotStudio × Hugging Face (open source)
Released: 2024
Price: ~$232 DIY parts (pair)
Status: Discontinued · used/leftover only
Best for: Ages 14+
Programming: Open source (hardware + software)

Price and shipping

Original BOM total for a leader + follower pair. Superseded by the SO-101 in 2025.

Shipping: Build or leftover kits. New builds should use the SO-101 files. Some vendors and second-hand sellers still offer SO-100 kits and parts.

Specifications

Category	Robot arms · Desktop & hobby arms
Released	2024
Country	France
Availability	Discontinued · used/leftover only
Programmability	Open source (hardware + software)
Built-in autonomy	None / scripted · Moves only when controlled, or plays preset motions
LLM support	Official LLM tools · Hugging Face's language-conditioned SmolVLA model runs on the SO-100 through LeRobot, though a policy must be fine-tuned per task. Hugging Face blog (SmolVLA) ↗
MuJoCo simulation	Official model · In MuJoCo Menagerie (trs_so_arm100). MuJoCo Menagerie ↗
NVIDIA Isaac simulation	Official model · In Isaac Sim's robot asset library (RobotStudio so100). Isaac Sim manipulator assets ↗
Gazebo simulation	Maker URDF only · Maker's repo publishes an SO-100 URDF, no Gazebo package. SO-ARM100 Simulation/SO100 ↗
Best for	Ages 14+ (estimated)
Vision sensors	No vision sensors
Actuators	Smart servos (Dynamixel, Feetech…)
Audio	No audio
Compute type	Laptop / PC as the brain
Remote control	Python from a laptop
DOF	6 (5 joints + gripper)
Reach	Not published
Payload	Not published
Repeatability	Not published
Weight	Not published
Controller	None on the arm, serial bus-servo driver board to a host PC over USB
Sensors	Servo position feedback (Feetech STS3215), user-added cameras
SDK	Hugging Face `lerobot` (Python), code and parameters are compatible with SO-101

Common questions

How much does SO-100 cost?

SO-100 is listed at ~$232 DIY parts (pair). Original BOM total for a leader + follower pair. Superseded by the SO-101 in 2025.

Can SO-100 be bought today?

It is discontinued, though used or leftover units still turn up. New builds should use the SO-101 files. Some vendors and second-hand sellers still offer SO-100 kits and parts.

Who makes SO-100?

SO-100 is made by TheRobotStudio × Hugging Face (open source). It came out in 2024.

Can SO-100 be programmed?

Open source (hardware + software). Hugging Face lerobot (Python), code and parameters are compatible with SO-101.

Does SO-100 have AI chat or LLM support?

Official LLM tools. Hugging Face's language-conditioned SmolVLA model runs on the SO-100 through LeRobot, though a policy must be fine-tuned per task.